CN116098707A - Wireless electromagnetic wave guided teleoperation system - Google Patents

Wireless electromagnetic wave guided teleoperation system Download PDF

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CN116098707A
CN116098707A CN202310388998.6A CN202310388998A CN116098707A CN 116098707 A CN116098707 A CN 116098707A CN 202310388998 A CN202310388998 A CN 202310388998A CN 116098707 A CN116098707 A CN 116098707A
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CN116098707B (en
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牛海涛
杨学成
褚光迪
苑航
张丰圆
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Affiliated Hospital of University of Qingdao
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Abstract

The invention relates to the technical field of medical treatment, in particular to a teleoperation system guided by wireless electromagnetic waves, which comprises: and an image acquisition module: the device is used for collecting an operation side operation image and uploading the operation side operation image to an operation side; the instruction acquisition module: the device is used for collecting operation side operation instructions; and an image analysis module: the device is used for analyzing the collected operation images according to the received operation instructions to obtain operation positions; surgical positioning module: for locating each surgical site by transmitting a wireless electromagnetic wave; and a position correction module: the image analysis module is used for analyzing the operation position of the patient; the instruction generation module: generating an execution instruction of the surgical device according to the located surgical position; the device execution module: and the instructions are used for controlling the surgical equipment to execute the instructions uploaded by the instruction generation module. The invention can locate and guide the surgical positions with different depths and the positions of surgical tools by emitting the wireless electromagnetic waves, thereby improving the efficiency and success rate of remote surgery.

Description

Wireless electromagnetic wave guided teleoperation system
Technical Field
The invention relates to the technical field of medical treatment, in particular to a wireless electromagnetic wave guided teleoperation system.
Background
The remote operation is based on computer technology, remote sensing, remote measuring and remote control technology, and is conducted by the expert of a medical center of a large hospital or a special department to conduct remote operation guidance on patients in the hospital with poor medical conditions, so that the smooth completion of the operation is ensured.
The traditional method for judging by visual observation before operation and experience of doctors and touch sense during operation cannot be well suitable for remote operation, and even if the examination data is referenced before operation, the method can not be accurately positioned during operation due to reasons such as fuzzy memory, image errors or vision errors, and the like, and the operation condition is generally displayed through the shot two-dimensional images when the remote operation is executed at present. However, since teleoperation involves an operation on a patient's blood vessel, and the vascular access of the human body is complicated, it is difficult to intuitively grasp the current patient's condition and the specific position of the surgical instrument only from the captured image, and thus the surgical effect is affected, and a medical accident may be caused when serious. Therefore, the invention provides a wireless electromagnetic wave guided teleoperation system, which can position and guide the positions of operation positions and operation tools with different depths by emitting wireless electromagnetic waves, thereby improving the success rate of teleoperation.
Disclosure of Invention
The object of the present invention is to solve the drawbacks presented in the background art above by proposing a tele-surgery system guided by wireless electromagnetic waves.
The technical scheme adopted by the invention is as follows:
a tele-surgical system providing wireless electromagnetic wave guidance, comprising:
and an image acquisition module: the device is used for collecting an operation side operation image and uploading the operation side operation image to an operation side;
the instruction acquisition module: the device is used for collecting operation side operation instructions;
and an image analysis module: the device is used for analyzing the collected operation images according to the received operation instructions to obtain operation positions;
surgical positioning module: for locating each surgical site by transmitting a wireless electromagnetic wave;
and a position correction module: the image analysis module is used for analyzing the operation position of the patient;
the instruction generation module: generating an execution instruction of the surgical device according to the located surgical position;
the device execution module: and the instructions are used for controlling the surgical equipment to execute the instructions uploaded by the instruction generation module.
As a preferred technical scheme of the invention: the image acquisition module acquires the image information of the operation side through a plurality of cameras, and performs fusion uploading on the image information of the operation side to the display screen of the operation side for fusion display.
As a preferred technical scheme of the invention: the image analysis module analyzes and obtains each operation position based on a pre-uploaded operation scheme.
As a preferred technical scheme of the invention: in the operation positioning module, the current position coordinates of the operation tool are acquired through an acceleration sensor and a magnetic sensor in the operation tool.
As a preferred technical scheme of the invention: the positioning steps of the surgical tool are as follows:
Figure SMS_1
；
Figure SMS_2
；
Figure SMS_3
；
Figure SMS_4
；
wherein ,
Figure SMS_5
、/>
Figure SMS_11
、/>
Figure SMS_13
the inclination angle, azimuth angle and toolface angle of the measuring point are respectively +.>
Figure SMS_7
、/>
Figure SMS_8
、/>
Figure SMS_10
For the 3 component measurements of the axis of the acceleration sensor,/->
Figure SMS_14
、/>
Figure SMS_6
、/>
Figure SMS_9
For the measurement of 3 components of the geomagnetic field, +.>
Figure SMS_12
Is the gravity acceleration value;
in the moving process of the surgical tool, taking the average value of the attitude values of adjacent measuring points as the attitude value of the surgical tool to calculate a straight line segment, and setting the first
Figure SMS_15
Coordinates of individual measuring points->
Figure SMS_16
It is calculated as follows:
Figure SMS_17
；
Figure SMS_18
；
Figure SMS_19
；
wherein ,
Figure SMS_23
indicate->
Figure SMS_26
Inclination angle of each measuring point->
Figure SMS_29
Indicate->
Figure SMS_21
Azimuth angle of each measuring point,/->
Figure SMS_25
Indicate->
Figure SMS_27
Inclination angle of each measuring point->
Figure SMS_30
Indicate->
Figure SMS_20
Azimuth angle of each measuring point,/->
Figure SMS_24
Is->
Figure SMS_28
Measure points and->
Figure SMS_31
Distance between each measuring point->
Figure SMS_22
The azimuth angle is designed for the main.
As a preferred technical scheme of the invention: in the operation positioning module, each operation position acquired in the image analysis module is positioned by transmitting wireless electromagnetic waves.
As a preferred technical scheme of the invention: in the positioning process, the operation position is initially positioned through a trilateral positioning algorithm, and positioning optimization of the operation position is performed on the operation position through a Kalman filtering algorithm.
As a preferred technical scheme of the invention: the surgical position positioning steps in the surgical positioning module are as follows:
performing operation position positioning through a four-point space positioning algorithm:
Figure SMS_32
；
wherein ,
Figure SMS_34
for the surgical position coordinates>
Figure SMS_38
，/>
Figure SMS_40
，/>
Figure SMS_35
，/>
Figure SMS_37
Position coordinates of four radio electromagnetic wave transmitters respectively,/->
Figure SMS_39
、/>
Figure SMS_41
、/>
Figure SMS_33
、/>
Figure SMS_36
The distances between the coordinates of the operation position and the four wireless electromagnetic wave transmitters are respectively;
calculating to obtain operation position coordinates
Figure SMS_42
, wherein ：
Figure SMS_43
；
Figure SMS_44
、/>
Figure SMS_45
coordinate reduction matrices: />
Figure SMS_46
；
Figure SMS_47
；
The positioning adjustment is performed by a kalman filtering algorithm,
providing a current position state vector in a random linear discrete surgical position location system
Figure SMS_48
System procedure random noise->
Figure SMS_49
System state transition matrix->
Figure SMS_50
Noise input matrix->
Figure SMS_51
Systematic observations +.>
Figure SMS_52
Observation matrix->
Figure SMS_53
Observation noise
Figure SMS_54
The state variance and observation equation are:
Figure SMS_55
；
Figure SMS_56
；
wherein ,
Figure SMS_57
representing a last position state vector;
system process noise variance
Figure SMS_58
Forward setting, observed noise variance->
Figure SMS_59
The Kalman filter estimation process is non-negative as follows:
Figure SMS_60
；
wherein ,
Figure SMS_61
one-step prediction value for position status, +.>
Figure SMS_62
The last position state estimated value;
Figure SMS_63
；
wherein ,
Figure SMS_64
estimating a value for the current position state; />
Figure SMS_65
Is a filtering gain matrix;
Figure SMS_66
；
wherein ,
Figure SMS_67
a one-step prediction error variance matrix; right upper corner->
Figure SMS_68
Representing a transposed matrix;
Figure SMS_69
；
Figure SMS_70
；
wherein ,
Figure SMS_71
a variance matrix of the current estimation error;
and (3) transforming to obtain:
Figure SMS_72
；
obtaining an adjusted operation position state estimated value through the method
Figure SMS_73
。
As a preferred technical scheme of the invention: the position correction module performs positioning correction on each operation position positioned in the operation positioning module, and sequentially records and uploads the operation positions to the instruction generation end according to the operation sequence of each operation position.
As a preferred technical scheme of the invention: the instruction generation module generates an execution instruction of the surgical equipment according to the positioning coordinates of the surgical tool, the positioning coordinates of each surgical position and the surgical sequence.
Compared with the prior art, the wireless electromagnetic wave guided teleoperation system provided by the invention has the beneficial effects that:
according to the invention, the surgical positions with different depths and the positions and the guidance of surgical tools can be positioned by emitting the wireless electromagnetic waves, the positioning accuracy is improved by a Kalman filtering algorithm, the surgical positions are guided according to the surgical sequence, and the efficiency and success rate of remote surgery are improved.
Drawings
Fig. 1 is a system block diagram of a preferred embodiment of the present invention.
The meaning of each label in the figure is: 100. an image acquisition module; 200. an instruction acquisition module; 300. an image analysis module; 400. a surgical positioning module; 500. a position correction module; 600. an instruction generation module; 700. the device executes the module.
Detailed Description
It should be noted that, under the condition of no conflict, the embodiments of the present embodiments and features in the embodiments may be combined with each other, and the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a preferred embodiment of the present invention provides a wireless electromagnetic wave guided tele-surgery system comprising:
the image acquisition module 100: the device is used for collecting an operation side operation image and uploading the operation side operation image to an operation side;
instruction acquisition module 200: the device is used for collecting operation side operation instructions;
image analysis module 300: the device is used for analyzing the collected operation images according to the received operation instructions to obtain operation positions;
surgical positioning module 400: for locating each surgical site by transmitting a wireless electromagnetic wave;
the position correction module 500: the device is used for comparing and correcting the positioned operation position according to the operation position analyzed by the image analysis module 300;
instruction generation module 600: generating an execution instruction of the surgical device according to the located surgical position;
device execution module 700: instructions for controlling the surgical device to execute the uploading of the instruction generation module 600.
The image acquisition module 100 acquires image information of the operation side through a plurality of cameras, and performs fusion uploading on the image information of the operation side to an operation side display screen for fusion display.
The image analysis module 300 obtains each surgical site based on a pre-uploaded surgical plan analysis.
In the surgical positioning module 400, the current position coordinates of the surgical tool are acquired through an acceleration sensor and a magnetic sensor in the surgical tool.
The positioning steps of the surgical tool are as follows:
Figure SMS_74
；
Figure SMS_75
；
Figure SMS_76
；
Figure SMS_77
；
wherein ,
Figure SMS_79
、/>
Figure SMS_81
、/>
Figure SMS_85
the inclination angle, azimuth angle and toolface angle of the measuring point are respectively +.>
Figure SMS_80
、/>
Figure SMS_83
、/>
Figure SMS_84
For the 3 component measurements of the axis of the acceleration sensor,/->
Figure SMS_87
、/>
Figure SMS_78
、/>
Figure SMS_82
For the measurement of 3 components of the geomagnetic field, +.>
Figure SMS_86
Is the gravity acceleration value;
in the moving process of the surgical tool, taking the average value of the attitude values of adjacent measuring points as the attitude value of the surgical tool to calculate a straight line segment, and setting the first
Figure SMS_88
Coordinates of individual measuring points->
Figure SMS_89
It is calculated as follows: />
Figure SMS_90
；
Figure SMS_91
；
Figure SMS_92
；
wherein ,
Figure SMS_94
indicate->
Figure SMS_97
Inclination angle of each measuring point->
Figure SMS_101
Indicate->
Figure SMS_96
Azimuth angle of each measuring point,/->
Figure SMS_99
Indicate->
Figure SMS_100
Inclination angle of each measuring point->
Figure SMS_103
Indicate->
Figure SMS_93
Azimuth angle of each measuring point,/->
Figure SMS_98
Is->
Figure SMS_102
Measure points and->
Figure SMS_104
Distance between each measuring point->
Figure SMS_95
The azimuth angle is designed for the main.
In the present embodiment, since noise and errors may exist in the real-time measurement values of the acceleration sensor and the magnetic sensor, the measurement values need to be filtered and calibrated to ensure the accuracy and reliability of the calculation. The present embodiment uses the kalman filter technique as an example:
1. prediction state:
Figure SMS_105
；
2. prediction covariance:
Figure SMS_106
；
3. calculating Kalman gain:
Figure SMS_107
；
4. updating the state:
Figure SMS_108
；
5. updating covariance:
Figure SMS_109
；
wherein, acceleration sensor and magnetic sensor real-time measurement value express as the vector:
Figure SMS_112
the measured value is expressed as a state variable +.>
Figure SMS_114
Measurement noise is expressed as->
Figure SMS_116
The state transition matrix is denoted +.>
Figure SMS_110
The state noise is expressed as +.>
Figure SMS_113
The measurement matrix is denoted->
Figure SMS_115
The Kalman gain is expressed as +.>
Figure SMS_117
. State variable->
Figure SMS_111
The method comprises the following steps:
Figure SMS_118
；
wherein the state transition matrix a describes the relationship of the state transition of the posture of the surgical tool from one moment to the next moment, and the form can be expressed as:
Figure SMS_119
；
wherein ,
Figure SMS_120
representing the time interval between two status updates.
The measurement matrix H describes the relationship between the state of the pose of the surgical tool and the measured values of the acceleration sensor and the magnetic sensor, which can be expressed in the form of:
Figure SMS_121
；
wherein ,
Figure SMS_122
、/>
Figure SMS_123
、/>
Figure SMS_124
representing the inclination, azimuth and toolface angles, respectively, in the state of the pose of the surgical tool.
In the operation positioning module 400, each operation position acquired in the image analysis module 300 is positioned by transmitting a wireless electromagnetic wave.
In the positioning process, the operation position is initially positioned through a trilateral positioning algorithm, and positioning optimization of the operation position is performed on the operation position through a Kalman filtering algorithm.
The surgical position locating steps in the surgical position locating module 400 are as follows:
performing operation position positioning through a four-point space positioning algorithm:
Figure SMS_125
；
wherein ,
Figure SMS_127
for the surgical position coordinates>
Figure SMS_129
，/>
Figure SMS_132
，/>
Figure SMS_128
，/>
Figure SMS_131
Position coordinates of four radio electromagnetic wave transmitters respectively,/->
Figure SMS_133
、/>
Figure SMS_134
、/>
Figure SMS_126
、/>
Figure SMS_130
The distances between the coordinates of the operation position and the four wireless electromagnetic wave transmitters are respectively;
calculating to obtain operation position coordinates
Figure SMS_135
, wherein ：
Figure SMS_136
；
Figure SMS_137
、/>
Figure SMS_138
coordinate reduction matrices:
Figure SMS_139
；
Figure SMS_140
；
the positioning adjustment is performed by a kalman filtering algorithm,
providing a current position state vector in a random linear discrete surgical position location system
Figure SMS_141
System procedure random noise->
Figure SMS_142
System state transition matrix->
Figure SMS_143
Noise input matrix->
Figure SMS_144
Systematic observations +.>
Figure SMS_145
Observation matrix->
Figure SMS_146
Observation noise
Figure SMS_147
The state variance and observation equation are:
Figure SMS_148
；
Figure SMS_149
；
wherein ,
Figure SMS_150
representing a last position state vector;
system process noise variance
Figure SMS_151
Forward setting, observed noise variance->
Figure SMS_152
The Kalman filter estimation process is non-negative as follows:
Figure SMS_153
；
wherein ,
Figure SMS_154
one-step prediction value for position status, +.>
Figure SMS_155
The last position state estimated value;
Figure SMS_156
；/>
wherein ,
Figure SMS_157
estimating a value for the current position state; />
Figure SMS_158
Is a filtering gain matrix;
Figure SMS_159
；
wherein ,
Figure SMS_160
a one-step prediction error variance matrix; right upper corner->
Figure SMS_161
Representing a transposed matrix;
Figure SMS_162
；
Figure SMS_163
；
wherein ,
Figure SMS_164
a variance matrix of the current estimation error;
and (3) transforming to obtain:
Figure SMS_165
；
obtaining an adjusted operation position state estimated value through the method
Figure SMS_166
。
The position correction module 500 performs positioning correction on each surgical position positioned in the surgical positioning module 400, and sequentially records and uploads the surgical positions to the instruction generating end according to the surgical sequence of each surgical position.
The instruction generation module 600 generates an execution instruction of the surgical device according to the positioning coordinates of the surgical tool, the positioning coordinates of each surgical position, and the surgical order.
In this embodiment, before the teleoperation is performed, the doctor negotiates to obtain the surgical treatment scheme, the image acquisition module 100 acquires the image of the surgical site of the patient at the operation side, and the instruction acquisition module 200 may generate a preset surgical instruction for the doctor to select according to the surgical treatment scheme, or generate a surgical instruction according to the instruction sent by the doctor at the operation side. When the image analysis module 300 receives the operation instruction transmitted from the operation side, if the scalpel is moved from the first positioning position to the second positioning position on the surface of the operation part, the collected operation image is analyzed to obtain the first positioning position and the second positioning position in the operation image, and the first positioning position and the second positioning position are uploaded to the operation positioning module 400, the operation positioning module 400 positions the operation position by emitting wireless electromagnetic waves, and the wireless electromagnetic waves can guide and position the surface or the inside of the operation part on the operation side by adjusting the emission wavelength.
The surgical positioning module 400 respectively performs positioning on various surgical tools, a first positioning position and a second positioning position, wherein, taking a surgical knife which is needed at present as an example, an acceleration sensor and a magnetic sensor are arranged in the surgical knife, and the surgical knife which may be in a moving state is positioned:
Figure SMS_167
；
Figure SMS_168
；
Figure SMS_169
；
Figure SMS_170
；
wherein ,
Figure SMS_172
、/>
Figure SMS_175
、/>
Figure SMS_177
the inclination angle, azimuth angle and toolface angle of the measuring point are respectively +.>
Figure SMS_171
、/>
Figure SMS_174
、/>
Figure SMS_179
For the 3 component measurements of the axis of the acceleration sensor,/->
Figure SMS_180
、/>
Figure SMS_173
、/>
Figure SMS_176
For the measurement of 3 components of the geomagnetic field, +.>
Figure SMS_178
Is the gravity acceleration value;
in the moving process of the surgical tool, taking the average value of the attitude values of the adjacent measuring points as the attitude value of the surgical tool to calculate a straight line segment, and setting 5 measuring points in total for the surgical knife, and then setting the coordinates of the 2 nd measuring point
Figure SMS_181
The following are provided: />
Figure SMS_182
；
Figure SMS_183
；
Figure SMS_184
；
wherein ,
Figure SMS_185
indicate->
Figure SMS_190
Inclination angle of each measuring point->
Figure SMS_194
Indicate->
Figure SMS_187
Azimuth angle of each measuring point,/->
Figure SMS_189
Indicate->
Figure SMS_192
Inclination angle of each measuring point->
Figure SMS_196
Indicate->
Figure SMS_186
Azimuth angle of each measuring point,/->
Figure SMS_191
Is->
Figure SMS_193
Measure points and->
Figure SMS_195
Distance between each measuring point->
Figure SMS_188
The azimuth angle is designed for the main.
And then positioning the first operation position and the second operation position by a four-point positioning method:
Figure SMS_197
；
Figure SMS_198
；
wherein ,
Figure SMS_200
coordinate of surgical site one>
Figure SMS_206
Coordinate of surgical site two, +.>
Figure SMS_211
，
Figure SMS_199
，/>
Figure SMS_205
，/>
Figure SMS_207
Respectively four transmitter bitsCoordinate setting up->
Figure SMS_210
、/>
Figure SMS_201
、/>
Figure SMS_204
、/>
Figure SMS_209
The coordinate distance of the surgical position one from the four wireless electromagnetic wave transmitters, +.>
Figure SMS_212
、/>
Figure SMS_202
、/>
Figure SMS_203
、/>
Figure SMS_208
The distances between the coordinates of the second operation position and the four wireless electromagnetic wave transmitters are respectively;
calculating to obtain the coordinates of the first surgical site
Figure SMS_213
And surgical site two coordinates->
Figure SMS_214
, wherein ：
Figure SMS_215
；
Figure SMS_216
；
A. b, C, D are coordinate reduction matrices respectively:
Figure SMS_217
；
Figure SMS_218
；
Figure SMS_219
；/>
Figure SMS_220
；
positioning adjustment is carried out through a Kalman filtering algorithm, and the initial value of the system is used
Figure SMS_221
and />
Figure SMS_222
According to the observation value +.>
Figure SMS_223
Deducing the position state estimation value of the kth moment by recursion>
Figure SMS_224
And obtaining the adjusted first positioning position and the adjusted second positioning position.
And (3) respectively positioning the first positioning position and the second positioning position based on the positioning algorithm, comparing and correcting the first positioning position and the second positioning position with the position coordinates analyzed by the image analysis module 300, and if positioning deviation exists, repositioning the first positioning position by the operation positioning module 400 until the minimum positioning accuracy is reached. After the positioning is completed, the instruction generating module 600 generates an execution instruction of the surgical tool according to the surgical tool position and the positioning position one and the positioning position two, for example, the surgical knife is rotated by 30 degrees and then vertically moved downwards to the surgical surface by 10 cm, and then moved in the direction of the surgical knife by 2 cm, and the device executing module 700 receives the execution instruction and controls the surgical knife to perform the surgical operation according to the execution instruction.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1. A wireless electromagnetic wave guided tele-surgery system, characterized in that: comprising the following steps:
image acquisition module (100): the device is used for collecting an operation side operation image and uploading the operation side operation image to an operation side;
instruction acquisition module (200): the device is used for collecting operation side operation instructions;
image analysis module (300): the device is used for analyzing the collected operation images according to the received operation instructions to obtain operation positions;
surgical positioning module (400): for locating each surgical site by transmitting a wireless electromagnetic wave;
position correction module (500): the device is used for comparing and correcting the positioned operation position according to the operation position analyzed by the image analysis module (300);
instruction generation module (600): generating an execution instruction of the surgical device according to the located surgical position;
device execution module (700): instructions for controlling the surgical device to execute the uploading of the instruction generation module (600).
2. The wireless electromagnetic wave guided tele-surgical system of claim 1, wherein: the image acquisition module (100) acquires operation side image information through a plurality of cameras, and performs fusion uploading on the operation side image information to the operation side display screen for fusion display.
3. The wireless electromagnetic wave guided tele-surgical system of claim 1, wherein: the image analysis module (300) obtains each surgical site based on a pre-uploaded surgical plan analysis.
4. A wireless electromagnetic wave guided tele-surgical system according to claim 3, characterized in that: in the operation positioning module (400), the current position coordinates of the operation tool are acquired through an acceleration sensor and a magnetic sensor in the operation tool.
5. The wireless electromagnetic wave guided tele-surgical system of claim 4, wherein: the positioning steps of the surgical tool are as follows:
Figure QLYQS_1
；
Figure QLYQS_2
；
Figure QLYQS_3
；
Figure QLYQS_4
；
wherein ,
Figure QLYQS_7
、/>
Figure QLYQS_8
、/>
Figure QLYQS_11
the inclination angle, azimuth angle and toolface angle of the measuring point are respectively +.>
Figure QLYQS_6
、/>
Figure QLYQS_10
、/>
Figure QLYQS_13
For the 3 component measurements of the axis of the acceleration sensor,/->
Figure QLYQS_14
、/>
Figure QLYQS_5
、/>
Figure QLYQS_9
For the measurement of 3 components of the geomagnetic field, +.>
Figure QLYQS_12
Is the gravity acceleration value;
in the moving process of the surgical tool, taking the average value of the attitude values of adjacent measuring points as the attitude value of the surgical tool to calculate a straight line segment, and setting the first
Figure QLYQS_15
Coordinates of individual measuring points->
Figure QLYQS_16
It is calculated as follows:
Figure QLYQS_17
；
Figure QLYQS_18
；
Figure QLYQS_19
；
wherein ,
Figure QLYQS_23
indicate->
Figure QLYQS_26
Inclination angle of each measuring point->
Figure QLYQS_27
Indicate->
Figure QLYQS_22
Azimuth angle of each measuring point,/->
Figure QLYQS_24
Indicate->
Figure QLYQS_28
Inclination angle of each measuring point->
Figure QLYQS_31
Indicate->
Figure QLYQS_20
Azimuth angle of each measuring point,/->
Figure QLYQS_25
Is->
Figure QLYQS_29
Measure points and->
Figure QLYQS_30
Distance between each measuring point->
Figure QLYQS_21
The azimuth angle is designed for the main.
6. The wireless electromagnetic wave guided tele-surgical system of claim 4, wherein: in the operation positioning module (400), each operation position acquired in the image analysis module (300) is positioned by transmitting a wireless electromagnetic wave.
7. The wireless electromagnetic wave guided tele-surgical system of claim 6, wherein: in the positioning process, the operation position is initially positioned through a trilateral positioning algorithm, and positioning optimization of the operation position is performed on the operation position through a Kalman filtering algorithm.
8. The wireless electromagnetic wave guided tele-surgical system of claim 7, wherein: the surgical position locating step in the surgical position locating module (400) is as follows:
performing operation position positioning through a four-point space positioning algorithm:
Figure QLYQS_32
；
wherein ,
Figure QLYQS_35
for the surgical position coordinates>
Figure QLYQS_36
，/>
Figure QLYQS_40
，/>
Figure QLYQS_34
，/>
Figure QLYQS_37
Respectively fourPosition coordinates of the radio electromagnetic wave emitters, +.>
Figure QLYQS_39
、/>
Figure QLYQS_41
、/>
Figure QLYQS_33
、/>
Figure QLYQS_38
The distances between the coordinates of the operation position and the four wireless electromagnetic wave transmitters are respectively;
calculating to obtain operation position coordinates
Figure QLYQS_42
, wherein ：
Figure QLYQS_43
；
Figure QLYQS_44
、/>
Figure QLYQS_45
coordinate reduction matrices:
Figure QLYQS_46
；
Figure QLYQS_47
；
the positioning adjustment is performed by a kalman filtering algorithm,
providing a current position state vector in a random linear discrete surgical position location system
Figure QLYQS_48
System procedure random noise->
Figure QLYQS_49
System state transition matrix->
Figure QLYQS_50
Noise input matrix->
Figure QLYQS_51
Systematic observations +.>
Figure QLYQS_52
Observation matrix->
Figure QLYQS_53
Observation noise->
Figure QLYQS_54
The state variance and observation equation are:
Figure QLYQS_55
；
Figure QLYQS_56
；
wherein ,
Figure QLYQS_57
representing a last position state vector;
system process noise variance
Figure QLYQS_58
Forward setting, observed noise variance->
Figure QLYQS_59
The Kalman filter estimation process is non-negative as follows:
Figure QLYQS_60
；
wherein ,
Figure QLYQS_61
one-step prediction value for position status, +.>
Figure QLYQS_62
The last position state estimated value;
Figure QLYQS_63
；
wherein ,
Figure QLYQS_64
estimating a value for the current position state; />
Figure QLYQS_65
Is a filtering gain matrix;
Figure QLYQS_66
；/>
wherein ,
Figure QLYQS_67
a one-step prediction error variance matrix; right upper corner->
Figure QLYQS_68
Representing a transposed matrix;
Figure QLYQS_69
；
Figure QLYQS_70
；
wherein ,
Figure QLYQS_71
a variance matrix of the current estimation error;
and (3) transforming to obtain:
Figure QLYQS_72
；
obtaining an adjusted operation position state estimated value through the method
Figure QLYQS_73
。
9. The wireless electromagnetic wave guided tele-surgical system of claim 8, wherein: the position correction module (500) performs positioning correction on each operation position positioned in the operation positioning module (400), and sequentially records and uploads the operation positions to the instruction generation end according to the operation sequence of each operation position.
10. The wireless electromagnetic wave guided tele-surgical system of claim 9, wherein: the instruction generation module (600) generates execution instructions of the surgical device according to the positioning coordinates of the surgical tool, the positioning coordinates of each surgical position and the surgical sequence.
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